[Dave]

Herrmmm.... well.. there is no arguing that the Tread system is the BEST traction out there, the question is just getting the dern' thing working!
our team, after some post-season development, worked it out. The key is to put a bogie-whell in... allowing the 'bot to spin on two small areas while turning, increasing speed about tenfold, and keeping traction still as high as it needs to be.
You need to experiment with which angle is best for your 'bot... but 6 degrees seems to work pretty well..
Our modified bot went:
9 mph, turned on a dime, and exerted approximately 100,000 N at max torque.